Motion Control Of The Magnetic Adsorption Wheeled Mobile Robot

Steel pipe is working as a basic equipment in the industry,and it widely used in industrial construction.However,as the installation of these steel pipe is often more harsh,the weld of the pipe is corroded strong,and defects will often appear during the welding of steel.So regular inspection of these pipe welds become an important part to guarantee transport safety.Manual operation of steel pipe weld testing equipment often exist inaccurate,and sometimes it's powerless.But the robot equipped with steel pipe weld detection probe can easily enter a variety of harsh environments to detect the pipelines' weld,and that is time-saving,effortless and high accuracy.Therefore,studying the motion control of the magnetic adsorption wheeled mobile robot on the pipe is important to the inspection of steel pipe welds.Base on the "from general to special" research method,this paper studies the motion control of the magnetic adsorption wheeled mobile robot on the general twodimensional plane firstly,and then study its motion control on the cylindrical surface of three-dimensional steel pipe.Firstly,this paper introduces the motion structure of the magnetic adsorption wheeled mobile robot,and then puts forward the corresponding working environment constraint,motion control target,research content and research method according to the requirements of industrial applications on the motion control of the robot.Then,the motion control of the magnetic adsorption wheeled mobile robot on the general two-dimensional plane is studied.The academic hypothesis is proposed for the motion control according to the working constraints.On the basis of these assumptions,the mathematical feedback model of the visual sensor in the two-dimensional plane is discussed firstly,and then the kinematics model of the two kinds of motion modes of the robot in the two-dimensional plane is discussed respectively.And the corresponding control strategies are designed according to the stability criterion.Finally,combining with the two-dimensional visual sensor feedback model,the kinematic model and the control strategy of the two motion control system of the robot respectively for simulation experiments,and all the experiments results have reached the desired experimental target.Under limited contrast conditions,we choose a kind of motion method with good simulation result as the movement way of the robot on the cylindrical surface of three-dimensional steel pipe.At last,the motion control of the magnetic adsorption wheeled mobile robot on the cylindrical surface of the steel pipe is studied.Firstly,with euler angles and a point on the robot's three-dimensional space coordinates,the three-dimensional position and orientation of the robot has been described.The academic hypothesis is put forward according to the working constraint.On the basis of these assumptions,the mathematical feedback model of the visual sensor in the three-dimensional space is discussed.And the motion model of the single-magnetic wheel in the cylindrical surface is deduced.And combined with the motion analysis of the magnetic adsorption wheeled mobile robot on the two-dimensional plane,the movement of the robot on the cylindrical surface of the steel tube was modeled,and the corresponding control strategy was designed.The three-dimensional kinematic model of the single-magnet wheel on the cylindrical surface of the steel tube and the three-dimensional kinematic model of the magnetic adsorption wheeled mobile robot on the cylindrical surface of the steel tube are simulated,and the simulation results validated the validity of the model.At last,the three-dimensional feedback model of visual sensor,the three-dimensional kinematics model and the control strategy of the three-dimensional motion control system of the magnetic adsorption wheeled mobile robot are simulated,and the desired experimental target is achieved.